Application-based control of valve discs

Abstract

The invention relates to an electronic actuator (124) for controlling and adjusting a pneumatic valve assembly (VS, V, VI, WV) for pneumatic movement, the invention being characterized in that an application (A) for controlling and adjusting the valve assembly (VS, V, VI, WV) is loaded or can be loaded so that the application (A) can be executed on the electronic actuator (124) in order to perform pneumatic movement on the pneumatic valve assembly (VS, V, VI, WV).

Description

[0001] This application is a divisional application of the invention patent application with application number 201780024685.5, application date April 19, 2017, and invention name “Application-based control of valve disc”. Technical Field

[0002] The present invention relates to the field of electro-pneumatics and in particular to an electronic valve controller for performing open-loop control and closed-loop control of a pneumatic movement task to be performed by a valve assembly, to a valve assembly controlled in an open-loop manner and in a closed-loop manner by the valve controller, and to a method for open-loop control and closed-loop control of a valve assembly and a pneumatic movement control system. Background Art

[0003] It is well known in the prior art to actuate fluidically operable actuators via electronic control devices, such as electronic control devices in the form of memory programmable controllers, wherein actuation signals are provided by control electronics to valve devices. Memory programmable controllers can be used to provide pre-configured desired valves that can be selected for controlling valve functions.

[0004] According to WO 2013 / 107 466 it is known to specifically configure a fluid control unit by means of a separate fluid control valve. To this end it is necessary to record the pneumatic parameters relating to the fluid control valve and the piston-cylinder assembly on which the movement task is to be performed. After the user has determined the valve function, a configuration file containing open-loop control parameters and closed-loop control parameters for actuating the valve disc can be generated.

[0005] In this respect, the amount of pneumatic movement tasks that have been preconfigured to be executable has proven to be disadvantageous. Therefore, previous systems have not proven to be flexible enough to enable different technical applications. Summary of the invention

[0006] The object of the present invention is therefore to improve pneumatic systems with respect to flexibility and closed-loop control options. Furthermore, the costs and required installation outlay will be reduced.

[0007] This object is achieved in each case by the subject matter. Advantageous embodiments are the subject matter of the description and the drawings.

[0008] The realization of the present object will be described below with reference to an electronic valve controller. The features, advantages or alternative embodiments described therein will also be transferred to other claimed subject matter, and vice versa. That is, the method can also be developed by combining the features described or claimed to form the present device. When doing so, the corresponding functional features of the method are implemented by the corresponding hardware modules (in particular microprocessor modules) of the device (or system or product), and vice versa.

[0009] In another aspect, the invention relates to the use of a read-in electronic actuator unit, which in one embodiment can be designed as a microcontroller of a valve disk.

[0010] According to a first embodiment variant, the valve disc is arranged directly on the pneumatic piston-cylinder assembly. The valve disc can be integrally mounted in the latter at that location or can be fastened to the latter detachably or non-detachably. The valve disc is connected to the piston-cylinder assembly so as to move the piston-cylinder assembly by at least two working channels (and possibly a ventilation channel). The valve disc together with the piston-cylinder assembly, in particular the cylinder valve assembly or the combination that can be activated by the present application, forms an electro-pneumatic device.

[0011] According to a second embodiment, the piston-cylinder assembly is offset from the valve disk. That is, the valve disk is not arranged directly on the piston-cylinder assembly but is functionally related to the piston-cylinder assembly via corresponding pneumatic working connections and further data lines.

[0012] Preferably, provision is made that the application is loaded directly onto the electronic actuator of the valve disk. This may be a microcontroller.

[0013] Furthermore, it is also possible that the application is not loaded directly onto the actuator of the valve disk, but initially onto the electronic valve controller of the valve island. The application can then be transferred from the electronic valve controller to the specific valve disk or to the microcontroller of the valve disk in a dedicated manner for execution at that location.

[0014] It is also possible that the application is used to indirectly control a remote further valve assembly in an open-loop manner. In this context, the term "remote" means away from the electronic actuator unit and / or microcontroller on which the application is loaded and implemented. Indirect control can be effected by the fact that the control data are transmitted from the microcontroller of the valve island to at least one microcontroller which is offset or separated from the valve island of the further valve assembly of the remote drive element (such as, for example, a robot arm). This has the technical advantage that only one electronic connecting line has to be provided between the valve island (of the robot arm) and the further valve assembly.

[0015] That is to say that the electronic actuator can be used to implement the application and can be arranged on the valve island.

[0016] - on the one hand, for directly controlling valves or valve assemblies arranged on a valve island in an open-loop and / or closed-loop manner, and / or

[0017] - on the other hand, for indirectly controlling in open-loop and / or closed-loop manner at least one further valve assembly arranged on the displacement drive element, in order to perform the respective pneumatic movement task at that location (ie remotely).

[0018] Of course, both controls may be combined, ie both direct open-loop valve control in a valve formed on a component on which the present application is also implemented and indirect open-loop valve control of a remote valve not formed on the same component on which the present application is implemented.

[0019] According to another advantageous embodiment of the invention, during the indirect open-loop control and / or closed-loop control of the further valve assembly by the present application on the offset drive element, only one electrical connection for data, in particular control data, and optionally for sensor data is provided between the valve island and the further valve assembly (or its electronic actuator / microcontroller). All valves of the further valve assembly can be supplied via a common pneumatic supply line, which can be guided separately from the electronic connection. In particular, in the present example, a supply pressure of, for example, 6 bar can be preset.

[0020] According to a further advantageous embodiment of the invention, the pneumatic supply lines of the valves of the further valve assembly (arranged on the deflection drive element) are separated from the electrical connections. Thus, the amount of tubing can be reduced.

[0021] In an advantageous embodiment, the electrical connection or the electrical connection line is used to transmit sensor data which has been recorded at another valve assembly and is transmitted to the present application for closed-loop control. In the present example, the electrical connection line is bidirectional.

[0022] According to a further preferred embodiment of the invention, the electronic actuator on which the present application is implemented can be arranged on the component instead of on the special component on which the pneumatic movement task is to be performed. The latter can be, for example, a structurally separate robot arm.

[0023] According to a preferred embodiment of the invention, the pneumatic valve assembly (which may be, for example, a valve disc) is controlled in a closed-loop manner on the basis of an internal sensor signal which is recorded by a sensor arranged locally on the pneumatic valve assembly (for example, only on the valve disc). This has the following technical advantages: the valve disc can be operated independently and controlled in a closed-loop manner. The power losses associated with a remote piston-cylinder assembly can be avoided.

[0024] According to a further preferred embodiment of the invention, the pneumatic valve assembly is controlled in a closed loop on the basis of a sensor signal which is recorded by a sensor arranged locally on the valve island. In this example, "locally" means "locally" in relation to the electronic actuator unit on which the application is loaded. This has the technical advantage that a signal line does not have to be initiated to the piston-cylinder assembly and maintained.

[0025] In both of the aforementioned embodiments, the sensor signal does not have to be read in by the piston-cylinder assembly for the purpose of open-loop control and closed-loop control.

[0026] Alternatively or additionally, however, the sensor signal can also originate from a remote sensor which is arranged remotely on another valve assembly.

[0027] Basically, the further valve assembly can be formed by one valve or can include a plurality of valves. It can also be formed by a valve disk or can include a plurality of valve disks.

[0028] According to another aspect, the object of the present invention is achieved by an electro-pneumatic system, which includes at least two actuators, one of which is designed as an electronic valve controller for a valve island and the other is designed as a microcontroller for a valve disk, and wherein the present application is received on the electronic valve controller and transferred to the microcontroller, wherein the application is used to control the valve disk in an open-loop and closed-loop manner in order to perform pneumatic movement tasks on a piston-cylinder assembly.

[0029] In a preferred embodiment of the invention, the communication connection between the valve disk and the valve island is designed as a point-to-point communication channel (in particular with a protocol driver) or as a bus system.

[0030] According to another aspect, the aforementioned object is achieved by an electronic valve controller for open-loop and closed-loop control of a valve assembly having at least one pneumatic valve for a pneumatic movement task. According to the invention, an application from a set of different provided applications for open-loop and closed-loop control of a valve assembly is loaded or loadable in an executable manner on the electronic valve controller in order to perform the pneumatic movement task.

[0031] The application is generated as an executable program code and can be read in and used or executed directly on the valve island. The application includes control commands for the valve assembly. No other electronic entities need to be connected between them. On the computing unit, different applications are generated in the code generation phase - depending on the desired movement task or valve function - and are provided as a set of applications for the user to select. Then, in the execution phase, the user can select at least one specific application from a set of applications for open-loop control and closed-loop control of the corresponding specific movement task. Reference can be made explicitly to the fact that the user can also select multiple applications from a set of available applications for open-loop control / closed-loop control. In order to generate the application, the computing unit can access the model and library of the application object. The application can be executed on one or more execution units (as a distributed system). In a preferred embodiment, the execution unit is an electronic valve controller. However, alternatively or additionally, the execution unit used can also be other electronic entities with corresponding technical requirements (processor performance, storage space, input ports, output ports or interfaces, etc.), for example, a microcontroller of a valve disk or a control device in the form of a memory programmable controller. That is, the corresponding execution unit can also be designed as a distributed system.

[0032] According to a preferred embodiment, the valve assembly is a so-called valve island comprising a plurality of (in particular four or eight) valve disks, wherein the valve disks can have the same structure and can be controlled in an open-loop manner and in a closed-loop manner via an electronic valve controller. The electronic valve controller is likewise arranged locally on the valve island. Alternatively, it can be designed as a distributed system, in which individual controller modules exchange data. The controller module can be designed, for example, as a microcontroller on the valve disk.

[0033] The individual valve discs of the valve island are valve modules with four valves. Valves are control elements for controlling working elements or devices (e.g. piston-cylinder assemblies) in an open-loop manner. The valve discs can each perform different types of movements, movement tasks or pneumatic functions and can therefore be activated differently. In different types of embodiments (throttling type, noise reduction type, etc.), it is also possible for one and the same valve disc to sequentially perform different partial movement tasks and be activated accordingly. The valve discs of the valve island can perform different types of movements and movement tasks in parallel at the same time intervals. Therefore, the movement tasks also include execution modes that can be controlled in a closed-loop manner, and movement types that can be adjusted by the user (throttling type, energy-efficient type, etc.).

[0034] For its part, the valve disk comprises an electronic valve disk controller for actuating the four valves of the valve disk. These four valves are connected in the manner of an electrical Wheatstone bridge in order to be able to provide or perform advanced valve functions.

[0035] According to a preferred embodiment of the present invention, the electronic valve controller has a plurality of interfaces, including pneumatic connectors and electrical connectors and data connectors, which can be designed as (possibly different) bus systems that can be operated by different protocols. The electronic valve controller includes an interface, in particular to a computing unit, which is preferably designed as a bidirectional interface for data exchange. The computing unit is used to generate applications based on mobile tasks input via an editor or via another input tool (electronic, acoustic, optical, etc.). Applications are generated in the code generation phase. In a simple variant of the present invention, all selectable applications are generated in the code generation phase and-according to the application-can be selected by the user and loaded into one or more execution units for the purpose of execution. A modified version of the application that has been selected and loaded can be generated in the execution phase, wherein the application is adaptively parameterized according to the desired specification. There is no need to load the application again onto one of the execution units.

[0036] If the electronic valve controller has an internal measurement signal unit integrated thereon, it is advantageous that the electronic valve controller receives an internal or local measurement signal of the valve assembly (in particular a valve island with all valve discs) via the internal measurement signal unit and calculates the internal or local measurement signal for closed-loop control. The calculation is preferably implemented directly on the electronic valve controller. Alternatively, the closed-loop control variable is transmitted to the calculation unit via a closed-loop interface for processing therein. This has the following advantages: the execution of the movement task can be controlled in a closed-loop manner in quasi-real time with the help of recorded and pre-definable pneumatic conditions. Preferably, the user can predetermine which physical conditions he wants to know are considered for closed-loop control (e.g., temperature, energy, flow, etc.). These closed-loop control variables are recorded according to events that can also be pre-defined (time-based events, such as periodically or state-based events, such as after executing a specific movement sequence of the movement task) and are transmitted to the calculation unit or (one or more) execution units for closed-loop control. It has therefore proven to be advantageous to take into account not only the measurement signal of the valve disk but also the measurement signal of the valve disk (located in parallel during use) and the internal sensor signal of the piston-cylinder assembly of the same valve island or component group containing the valve disk.

[0037] In a preferred embodiment of the invention, the closed-loop control of the valves of the valve island for the execution of the movement task is implemented based on internal measurement signals of the valve island (i.e., measurement signals or sensor signals recorded on the valve island) and based on external processing signals and / or external closed-loop control variables and / or external measurement signals. As already mentioned, of course, the measurement signals of different valve disks can be recorded in the internal measurement signals and transmitted (in the case of assignment to the corresponding valve disks) to the calculation unit or (one or more) actuating units for the purpose of closed-loop control. Thus, a valve disk-specific closed-loop control can be performed in an advantageous manner. The external parameters (external processing signals, closed-loop control signals, measurement signals) can be pneumatically relevant physical parameters recorded or provided outside the valve island, such as specifications for energy consumption, absence of vibration or noise generation. The external variables are preferably processing signals of a technical process in the context of which the movement task is to be executed (i.e., for example, fill level signals or position signals for a production process for moving components by means of a pneumatic valve assembly, or, for example, signals of a robot to be moved, etc.). A closed-loop control loop or a corresponding closed-loop control algorithm is provided in order to compare the recorded actual specifications of the corresponding closed-loop control parameters (these are also generally continuous signals or signal or curve progressions) with predefinable desired specifications with respect to consistency and to control them accordingly in a closed-loop manner. Since these closed-loop control variables differ from one application instance to another, in an exemplary embodiment, provision is made that the external closed-loop control variables and the internal closed-loop control variables can be predefined and can be predefined in particular in the code generation phase, so that unneeded measured values ​​do not have to be recorded and processed, and instead only those measured values ​​relevant to the respective application need to be recorded and processed.

[0038] In a simpler embodiment, closed-loop control may be performed based only on the inner closed-loop control variable or the outer closed-loop control variable.

[0039] Fundamentally, closed-loop control ensures the generation of a modified application, wherein the application is parameterized with the desired specifications of the calculation and is executed on the execution unit in this parameterized version. In one embodiment, provision is made that the data technology system for generating the application, in particular the so-called calculation unit or execution unit, is designed as a self-learning system. In this case, during the execution of the movement task, feedback and diagnostic information is recorded (preferably on the execution unit on which the application is executed, i.e., for example, on the valve island or on a unit that exchanges data with the execution unit), which information is passed to the calculation unit for generating or parameterizing the application. That is, during the execution of the intended movement task, the valve assembly can also be controlled in an open-loop manner by means of different versions of the application, wherein the different versions or parameterizations of the application are based on the closed-loop control variables under consideration.

[0040] In a first embodiment, the generated application is loaded directly to the electronic valve controller for the purpose of execution. In this case, it is no longer necessary to use other control units, such as a memory programmable controller. However, in addition, it is of course possible to optionally incorporate an external control unit into the system, for example in the form of a memory programmable controller. In this case, the application loaded into the electronic valve controller is incorporated into the control program for the corresponding valve island, which is provided on the memory programmable controller. Therefore, the execution of the application on the electronic valve controller can be triggered via the memory programmable controller (especially by starting control commands and ending control commands) and optionally by the emergency shutdown facility if an emergency occurs. Therefore, according to the present invention, the open-loop control tasks and closed-loop control tasks for the valve island are no longer indirectly implemented and executed by the memory programmable controller (even if it is used), but are directly implemented and executed by the electronic valve controller on the valve island and therefore locally on the valve island. Therefore, it can be said that the intelligent functionality of directly performing open-loop control and closed-loop control in situ can be advantageously migrated to the valve island. In another embodiment, the digital programmable control device may also have a further control application arranged thereon, which can be loaded into the electronic valve controller for the purpose of performing pneumatic movement tasks. However, the memory programmable controller is generally only used to perform high-level functions and is used to coordinate with other units of the technical application system (robot control, etc.). The memory programmable controller then coordinates the movement sequence related to, for example, the electric drive in order to avoid collisions, for example, during emergency closing.

[0041] In a second embodiment, the generated application is not loaded directly onto the electronic valve controller for execution purposes, but onto a digital programmable control device. This then transmits the control commands to the execution unit, in particular to the electronic valve controller. The control commands can be incorporated into an executable program code which also prompts, for example, to record specific measured values ​​as closed-loop control variables.

[0042] According to a further aspect, the aforementioned objects are achieved by an electronic execution unit on which the generated application is loaded and executed. These units are electronic processor units or digital processor units (in particular electronic valve controllers) formed on the valve assembly and in particular on the valve island, control units (microcontrollers) on separate valve disks or entities that exchange data with memory programmable controllers or computing units. The electronic control unit is used to control the pneumatic valve assembly in an open-loop manner and / or in a closed-loop manner in order to perform pneumatic movement tasks (of a moving unit (such as, for example, a robot arm)).

[0043] According to a further aspect, the aforementioned object is achieved by a method for open-loop control and closed-loop control of a pneumatic valve assembly for performing a pneumatic movement task, the method comprising the following method steps:

[0044] - Read in pneumatic movement tasks

[0045] - Based on the recorded pneumatic movement tasks, the executable program code is automatically generated by accessing the library of application objects and the individual application objects are distributed to at least one or more actuating units of the valve assembly.

[0046] - Loading the executable program code as an application in real time on at least one or more execution units of the valve assembly. Generally, after the loaded program, the application is also executed.

[0047] Preferably, the internal measurement signals of the valve island and valve disk (valve assembly) recorded during the execution of the application (and therefore during the execution of the movement task by the valve assembly) and the external processing signals of the technical system are transmitted to the execution unit as pneumatic closed-loop control variables in order to generate a modified application (i.e. a parameterized application (or another version of the application)) and load it onto the execution unit (e.g. an electronic valve controller) for the purpose of execution. The program can be executed in real time and in particular in the range of 0.5 milliseconds to 5 milliseconds, so that the parameterized application is available in real time on the execution unit. Even when a modified application (i.e. a closed-loop controlled application) is generated, it can be loaded onto the execution unit in real time. This also applies to applications that are modified by feedback.

[0048] In practice, it has proven to be advantageous that the following operating conditions (i.e., execution modes or movement variants) are taken into account and can also be selected and applied in combination for the open-loop or closed-loop control of the valve assembly. They can, for example, also be displayed in the form of a plug-in on a user interface (e.g., a computing unit or another device) for selection:

[0049] - damping the piston movement by providing a damping function that provides a particularly soft stop,

[0050] - Control the speed of the piston in a closed loop by providing a throttling function, used to control the speed of the piston,

[0051] - provide pressure control and / or pressure step control,

[0052] - execution time of the mobile task,

[0053] - Energy efficiency of mobile tasks,

[0054] - Specification of valve functions,

[0055] - movements with intermediate stops and / or separated moving segments,

[0056] - mobile tasks for diagnostic purposes, and

[0057] - Other criteria which may be relevant for the respective application, such as, for example, the absence of vibrations, heat development, current consumption and / or sound emissions when performing mobile tasks etc.

[0058] The invention can be used to control valve assemblies in an open-loop manner and in a closed-loop manner. It is also possible to specify valve functions. For this purpose, a specific application can be selected from a set of applications provided and then loaded onto the actuating unit.

[0059] In order to control the valve assembly in a closed-loop manner, preferably internal (valve island-internal) measurement signals and external (valve island-external) closed-loop control variables of the valve assembly are taken into account. At least two separate closed-loop circuits are provided: The first closed-loop circuit is located on the respective valve disk and controls the four respective valves of the valve disk in a closed-loop manner based on sensors (e.g. pressure sensors or position sensors) arranged on the valve disk or on the respective valves. The second closed-loop circuit is provided on the electronic valve controller. This closed-loop circuit also controls the behavior of all valve disks of the valve island in a closed-loop manner in relation to one another.

[0060] It can process the internal measurement signal of the internal measurement signal unit. In other embodiments of the present invention, a third closed loop can be provided. The third closed loop can be located outside the valve island on the electronic component or on the memory programmable controller and can process external sensor signals (e.g., pressure signals or other sensor signals (temperature, etc.)), which then move the actuator (gripper) to a specific position to prevent collision during emergency closing. In this regard, the processing signal of the external sensor unit is processed. The memory programmable controller can also be used to control the correct sequence of the corresponding movement tasks of the various valve discs of the valve island through corresponding commands (e.g., "Move cylinder 1 from A to B and move cylinder 1 from B to C and cylinder 2 from A to D in a throttling manner after an interval of 5 seconds"). In other embodiments of the present invention, a fourth closed loop can be implemented, which is adapted or parameterized with the help of the user's specifications for the execution mode (damping mode, noise reduction mode) of the movement task. The specification is entered via the user interface and then automatically calculated by the algorithm as the desired specification for the parameterized application. The application consists of two parts: a main part and a desired specification-dependent part that is parameterized differently by the corresponding desired specification. The main part of the application remains unchanged even during parameterization. This has the advantage that even when the execution mode of the mobile task is changed or in the case of changed closed-loop control variables, there is no need to recompile and repeatedly load the application. Therefore, processing costs and management expenses can be greatly reduced. The high-level closed loop can be generated by regenerating the application and subsequently downloading the application to the execution unit(s).

[0061] According to another aspect, the aforementioned object is achieved by a pneumatic movement control system for performing open-loop control and closed-loop control of a pneumatic valve assembly to perform a pneumatic movement task, comprising:

[0062] - Editor, which serves as a user interface for recording pneumatic movement tasks;

[0063] - a computing unit which is designed to generate an executable program code or to select an already generated program code to be provided as an application based on the recorded pneumatic movement tasks and to parameterize this code with the aid of closed-loop control data and / or process signals;

[0064] - at least one actuator unit which is arranged on the valve assembly and is designed in each case to read in the application and execute it in order to control the valve assembly in an open-loop manner as a function of the recorded movement task and / or to control the valve assembly in a closed-loop manner based on internal variables and closed-loop control variables.

[0065] The pneumatic movement control system comprises at least one internal measurement signal unit, which is used to record internal measurement signals or local measurement signals of the valve assembly, which are used in real time to generate executable program code for controlling the pneumatic movement task in a closed-loop manner. Preferably, each valve island comprises such a measurement signal unit.

[0066] The computing unit of the pneumatic movement control system preferably comprises:

[0067] - An interpreter designed to divide the recorded movement task into a sequence of tasks;

[0068] - a synthesizer designed to access a memory comprising stored application objects in order to select, for each task from a whole set of tasks, the application object required for the task in order to generate therefrom an executable program code;

[0069] - a distributor designed to distribute the generated executable program code to at least one execution unit and load it there;

[0070] - An actuator, which is preferably designed as an execution unit which executes the generated executable program code in real time and which is optionally designed to record internal measurement signals as closed-loop control variables and return them in order to generate modified (parameterized) executable program code.

[0071] and optionally:

[0072] - A matcher, which is designed to access a license memory and / or an external memory (database), which stores a library of application objects that require a license. The matcher is used to continuously optimize application generation. Generally, a synthesizer for generating an application accesses an internal memory including application objects, in which application objects that are already licensed or license-free are located. However, for optimization purposes, the system can access an external memory entity, which can be configured as a cloud solution, in which application objects that require a license are located. They first have to be licensed by further measures on the part of the user (after being displayed on the user interface and agreeing to the licensing conditions) in order to be available for generating applications. Application objects in the external memory also include such application objects that are optimized for different situations and criteria.

[0073] If the pneumatic movement control system comprises an optimization module designed to optimize and / or control the pneumatic movement tasks in a closed-loop manner, further improvements can be achieved, since pre-definable optimization criteria are taken into account during the generation of the executable program code. The pre-definable optimization criteria can be time-related criteria (duration, rapidity), energy efficiency, sound or heat development, etc.

[0074] This purpose is also achieved by a computer program, which includes a computer program code for implementing all method steps of the method described in more detail above when the computer program is executed on a computer. In this respect, it is also possible for the computer program to be stored on a computer-readable medium and to be sold as a computer program product.

[0075] In the following detailed description of the drawings, exemplary embodiments, which are not to be understood as limiting, are discussed together with features and further advantages thereof with the aid of the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 A schematic diagram of a pneumatic system according to an advantageous embodiment of the invention is shown.

[0077] Figure 2 An exploded view of a valve disc in one example embodiment is shown.

[0078] Figure 3 Further components of the valve disc are shown.

[0079] Figure 4a is a schematic illustration of a valve island comprising four valve discs, and

[0080] Figure 4b A valve island comprising eight valve disks is shown.

[0081] Figure 5An overview of the components of a pneumatic system and their interaction is shown according to an advantageous embodiment of the invention.

[0082] Figure 6 Schematic diagram showing different closed loop circuits for controlling a valve assembly in a closed loop manner.

[0083] Figure 7 shows an example of an embodiment of the invention in which the valve disc for carrying out the present application is arranged directly on the piston-cylinder assembly, and

[0084] Figure 8 Another example of an embodiment of the invention is shown, in which the valve disk for carrying out the present application is not arranged directly on the piston-cylinder assembly.

[0085] Fig. 9 An embodiment is described in which a valve island is used as a passage station for transferring the application to the valve disk.

[0086] Fig.10 A further valve assembly is schematically shown which is offset from the valve island and can therefore be controlled in an open-loop and / or closed-loop manner. DETAILED DESCRIPTION

[0087] Hereinafter, the present invention will be explained in more detail with reference to the accompanying drawings.

[0088] Figure 1 A schematic overview of the components of an electro-pneumatic system according to an advantageous embodiment of the invention is shown. The computing unit 1000 comprises a processor for calculations and comprises or is connected to a monitor which can be designed as an editor E for inputting movement tasks. The computing unit 1000 can be a Figure 1 The example on the left hand side shows a computer unit, such as a personal computer or a network of multiple computer entities connected via a network. The network can be a wired network (e.g., a wired LAN) or a wireless network (e.g., a WLAN). Within the scope of the present application, it is also obvious to a person skilled in the art that other designs of computing units 1000 are provided, for example, mobile data processing devices such as tablet computers, handheld devices, smart phones, laptop computers, etc., which can also be used in combination as distributed systems. The corresponding devices of the computing unit 1000 can be connected to other digital entities and / or electronic entities (SPS; electronic valve controller 1, etc.) of the system via a network (LAN, WAN, WLAN, etc.). Optionally, in an exemplary embodiment, the computing unit 1000 can exchange data with a memory programmable control device SPS; however, this is not absolutely necessary.

[0089] Fundamentally, the invention aims at adaptively starting the pneumatic valves of a valve assembly so that different application scenarios can be covered and so that the closed-loop control variables recorded during the execution of the valve movement can be taken into account during the further start-up. For this purpose, according to the corresponding movement task of the application including further technical criteria (e.g. requirements related to execution time, energy consumption, etc.), a program code is generated in a first code generation phase, which can be executed as an application A on an electronic execution unit of an electro-pneumatic system (for example, such as an electronic valve island controller 1, a memory programmable logic device SPS and / or on a microcontroller 124). For this purpose, the application A in particular contains or generates valve control commands. In a second time phase, valve movement phase or execution phase, the generated application A or the generated valve control command is executed on the execution unit of the valve assembly (e.g. on the electronic valve island controller 1 of the valve island VI (valve terminal) or on the corresponding valve disk VS or the electronic valve controller (microcontroller 124) of the valve V or on another valve assembly WV).

[0090] All electronic actuators which - according to an embodiment of the invention - can be arranged on the valve island VI (as a valve island controller 1) and / or on the valve disc VS and / or on a separate valve V and / or on another valve assembly WV can be designed with a network interface. The network interface may include an input interface and / or an output interface. During data transmission via the network, a protocol of the IP family can be used as a transport layer, such as, for example, based on the IEEE 802.3 standard (in particular Ethernet). For example, UDP data packets can be transmitted to the corresponding electronic actuator unit (e.g., application A or control data) for execution purposes. Similarly, UDP data packets can be transmitted to electronic actuators, such as, for example, sensor data packets.

[0091] The network interface may be wired.

[0092] It is also possible to provide an adapter on the electronic actuator in order to couple the wired data transmission to the wireless transmission of data and to enable wireless data transmission from / to the receiver node. The adapter can be formed, for example, by a field bus coupler.

[0093] The application can therefore be operated by a mobile device (e.g. tablet, smartphone) in order to control the valve in an open loop via wireless data transmission in accordance with the pneumatic movement task.

[0094] Furthermore, it becomes possible to wirelessly transmit locally recorded sensor data to a receiver node in order to be processed therein (eg for closed-loop control purposes) or to be passed on from the local location to further nodes.

[0095] In an example of an embodiment of the present invention, the valve island controller 1 can be designed with an Ethernet interface, via which data can be transmitted and / or received per UDP. The data can be digital data (e.g., control data for valve activation) and / or analog data (e.g., sensor data, such as pressure measurement data).

[0096] In terms of time, the two time phases can be staggered (staggered mode). This proves to be advantageous in particular when closed-loop control values ​​are recorded during the execution of the movement (the closed-loop control values ​​will be used for closed-loop control of the movement task). Then, without reloading and compiling application A, a parameterized version of application A can be generated and executed on execution unit 1, 124, SPS. The parameterized version is based on an expected specification, which is calculated based on the recorded external closed-loop control variables and internal closed-loop control variables. The expected specification can be a discrete signal or a time-continuous signal (e.g., a curve progression). Therefore, when the movement task is being executed, it is advantageously possible to even change the execution mode (e.g., suppression mode, energy-efficient mode, etc.).

[0097] During the code generation phase, the computing unit 1000 is enabled and used to generate a set of applications. The computing unit 1000 is connected via an interface to an external sensor unit 4000, via which external closed-loop control variables or processing signals of technical processes (robots, production, etc.) can be read in. In other embodiments, the external sensor unit 4000 can also exchange data with the memory programmable control device SPS and / or with the electronic valve controller 1 in addition or alternatively and transmit its sensor signals to these entities for closed-loop control (this is in Figure 1 During the valve movement or actuation phase, the corresponding actuating unit 1, 124 is active on the valve assembly. Figure 1 The open-loop control of the valve function and thus the movement task is implemented by selecting a specific application A from a set of provided applications.

[0098] The valve island VI comprises four or eight cubic valve disks VS and an electronic valve island controller 1 as well as an internal measurement signal unit 5000, which in each case in which the valve island VI has valve disks VS arranged thereon is responsible for the open-loop control centrally or as a distributed solution. The internal measurement signal unit 5000 is used to record pneumatic measurement values ​​(such as, in particular, pressure, stroke (travel), flow, temperature) as local or internal measurement signals on the valve island VI and for transmitting these values ​​to the electronic valve island controller 1 and / or to other electronic instances for processing and closed-loop control. In the code generation phase, the user can determine the parameters for the values ​​to be recorded and taken into account during the calculation and for the code generation. Partitions and interface nodes for optional further plug-in modules can be integrated on the valve island VI, which interface nodes can be designed, for example, as bus nodes and / or as Ethernet, network visualization interfaces. All components of the valve island VI are fastened to a base plate 10. The base plate 10 can be manufactured from an extruded aluminum profile and has pneumatic connections for connecting pipes (for example, working connections 50 (in Figure 1 Not shown but in Figure 4a and Figure 4b )) and connections for air inlet and outlet (in particular for ventilation devices for sound absorbers). In addition, electrical connections 14 for cables and electronic interfaces are provided.

[0099] Figure 1 On the right-hand side, a pneumatic connection 12 is schematically indicated, which serves as a working channel and is connected to a working device (in this case, a piston-cylinder assembly 11) in order to move the assembly. As shown in FIG. 4 , a plurality of working connections 50 are usually provided, in this case, each valve disc VS has two working connections 50. In the piston-cylinder assembly 11, other sensors are designed in the form of a piston-cylinder sensor unit 6000, including, for example, end position sensors, position sensors, stroke sensors, pressure sensors, etc., alone or in combination. These internal sensor signals are preferably transmitted directly to the electronic valve controller 1 for closed-loop control. These internal sensor signals can be calculated directly on the electronic valve controller 1 together with the local or internal measurement signals of the internal measurement signal unit 5000 and the external processing signals of the external sensor unit 4000.

[0100] In the preferred embodiment of the present invention, all valve discs VS of the valve island VI have the same structure, which will be described later. Figure 2 To describe the structure.

[0101] The electronic valve controller 1 is used for open-loop control and closed-loop control of valves arranged in the valve assembly VS, VI. In a preferred embodiment of the present invention, the valve assembly is formed by the valve island VI and the execution unit for executing the application A is the electronic valve island controller 1, which can centrally and simultaneously start and control multiple (four or eight) valve discs VS of the valve island VI in a closed-loop manner.

[0102] References below Figure 5 The computing unit 1000 includes an editor E or communicates data with the editor E ( Figure 1 ). The editor E is used to input any type of movement task, such as, for example, "move body X from position A to position B and execute it as fast as possible", "execute a throttle stroke", "execute movement X and terminate it with a soft stop", etc. A movement task may include multiple task sequences or partial movements to be executed at definable time intervals. A movement task may also be executed in different execution modes (throttle mode, energy efficient mode, vibration-free mode, etc.).

[0103] Fundamentally, the mobile task defines a physical program that moves a mass in a three-dimensional space or along a path with a determinable speed and with a determinable acceleration and optionally with a determinable energy consumption. Preferably, the mobile task is input by a user into a model provided by a software development platform. However, it is also within the scope of the present invention to read the mobile task to be performed from a file (particularly a parameterized file (for example, for platforms such as Matlab / Simulink, Codesys, etc.)). Similarly, the mobile task can be stored in a memory. The mobile task can be provided in different formats (as a text file, an image file or a video record, in a machine-readable format, etc.). In the underlying model, the corresponding pneumatic requirements are defined. The software development platform is preferably designed so that the model can be simulated and tested and code (for example, C++ code) can be automatically generated. The generated code is an executable program code. In a preferred embodiment of the present invention, a model is generated in a Matlab-Simulink environment. Simulink® is a block diagram environment for model-based technology development, and assists design and simulation at the system level, and also allows automatic code generation and continuous testing and verification of embedded systems. However, other models and platforms can also be applied.

[0104] As already mentioned, the method according to the invention is essentially divided into two time phases:

[0105] 1. Code generation phase, in which executable code in the form of application A is generated based on the recorded mobile tasks. Application A can be continuously modified and fine-tuned by taking into account closed-loop control variables. For example, the model used for code generation can be designed as a self-learning system.

[0106] 2. Valve movement phase or execution phase: In this phase, the movement task is actually executed, wherein the valves of the valve assembly VS, VI are activated according to the specifications of the provided application A. For this purpose, the application A is executed on one or more actuator units 1, 124 of the valve assembly VS, VI. Preferably, pneumatic measured values ​​and measured values ​​associated with the respective application instance are recorded on each valve island VI in one or more internal sensor units, which are returned as closed-loop control variables for application generation or application modification in order to improve, fine-tune or modify the application and load it to the actuator unit in a modified (especially parameterized) version. In addition, external closed-loop control variables can also be used for application parameterization.

[0107] A computing unit 1000 is provided to automatically generate executable program code based on the recorded pneumatic movement tasks. Figure 5 As can be seen in FIG. 1 , the computing unit 1000 includes a plurality of modules that all exchange data via a network (i.e., an interpreter 1002 that is used to divide the recorded movement tasks into a series of tasks). A task may be a sequence of movements that are to be executed successively. In addition, the computing unit 1000 includes a synthesizer 1006 that is designed to access a memory 1004 that includes stored application objects in order to select the application objects required for each task from a set of tasks in order to generate executable program code therefrom. In addition, the computing unit 1000 is provided with a distributor 1020 that is designed to distribute the generated executable program code to at least one execution unit, i.e., to the electronic valve controller 1 and / or the microcontroller 124 of the valve disk VS and / or to the memory programmable control device SPS and load it at this location. In addition, the computing unit 1000 includes an actuator 1022 that is designed to execute the generated executable program code. In the main embodiment of the invention, the actuator 1022 is designed as an actuator unit 1, 124 on the valve island VI. Alternatively or additionally, the actuator 1022 can be configured as a higher-level entity, for example, as a memory programmable control device SPS, which further also undertakes coordination tasks, for example, with working equipment of the technical processing facility. The actuator unit 1, 124, SPS is designed not only for executing application programs, but also for recording internal measurement signals of the valve assembly (in particular of the valve island VI) as closed-loop control variables and returning them to the calculation unit 1000 for generating modified executable program code. The closed-loop control interface 3000 can be used for this purpose.

[0108] The generated application A can be loaded directly into the electronic valve controller 1 and / or loaded into other distributed execution units for execution purposes. In this case, it is no longer absolutely necessary to use the memory programmable controller SPS to start the valve assembly VS, VI. It is also possible to load application A or some parts thereof into the control device SPS, which then passes the code to the electronic valve controller 1 for open-loop control purposes. Generally, after loading application A onto the electronic valve controller 1, the program code can be integrated into the memory programmable controller SPS so that it can trigger a program sequence. Therefore, the program programmable controller SPS can be used to transmit at least one start command and one end command for a moving task to the electronic valve controller 1.

[0109] Furthermore, in a preferred embodiment of the present invention, the computing unit 1000 comprises a matchmaker 1008, which is designed to access a license memory 1010 and / or an external memory 2000, in each case, in which a library of application objects requiring a license is stored. The external memory 2000 can be designed as a library of cloud-based application objects. The license memory 1010 stores license data associated with the application objects. The matchmaker 1008 is designed to optimize the generation of executable program code in terms of different aspects. This is achieved by analyzing whether an application object requiring a license is present in the license memory 1010 and / or the external memory 2000, which is suitable (and possibly more suitable) for executing a mobile task taking into account the recording of internal closed-loop control variables and external closed-loop control variables compared to a previous application object from the memory 1004 that has been used previously. If this is the case and a "better" application object is provided for the mobile task under the recorded measurement conditions (through the recorded closed-loop control variables), the type of available application object and its license conditions can be displayed to the user on the user interface. If the user agrees to the licensing conditions by paying the corresponding licensing fee, the corresponding application objects requiring a license can be loaded from the external memory 2000 and / or from the memory 1004 (if this also includes the application objects requiring a license) and can be used to generate the application A. In parallel, the license data record is updated in the license memory 1010. The retrieved or licensed application objects can be passed to the synthesizer 1006. It should be noted that the user interface for inputting the movement task and displaying the appropriate application objects requiring a license from the memory 1010 does not have to be consistent.

[0110] In a preferred embodiment of the invention, the editor E and the computing unit 1000 are located on the same system, while the electronic valve controller 1 and the valve assembly VS, VI are integrated in one component, which is, however, located at a remote location (distributed system) or connected via a corresponding data interface. In an alternative embodiment of the invention, in this case, additional structures and / or computer-based units can also be provided, so that, for example, the editor E is not located on the system of the computing unit 1000.

[0111] The pneumatic movement control system advantageously comprises an optimization module configured for optimizing and / or closed-loop controlling the pneumatic movement tasks by taking into account optimization criteria which may be predefined during generation of the executable program code, such as optimization with respect to required time, energy, compressed air, etc.

[0112] like Figure 5 As shown in , during the generation of the executable program code, closed-loop control variables are taken into account. Preferred embodiments of the invention relate to both internal closed-loop control variables and external closed-loop control variables. In the present context, "internal" means that the physical measurement signals are recorded on an internal measurement signal unit 5000, which is arranged on the electronic valve controller 1 and therefore relates to measurement signals that are internal and local to the valve island. "External" is used to indicate that any pneumatically relevant external closed-loop control variables (i.e. valve island external variables and, for example, central or global variables) can be read in and taken into account for the generation of application A. The external closed-loop control variables are read in from the external sensor unit 4000. The internal closed-loop control variables are returned from the valve island or the electronic valve controller 1 to the calculation unit 1000 via the closed-loop control interface 3000.

[0113] Figure 2 The essential components of a valve disc VS with a unit of four valves are shown. It comprises a housing 100 in which, in this example, four booster cartridges 112 are mounted. The booster cartridges 112 are used to increase the flow locally or at selective points. An electronic circuit board 120 is arranged in the central part of the valve disc VS, in which a serial synchronous data bus (serial peripheral interface, SPI) 114 is arranged, with the aid of which digital data can be exchanged according to the master-slave principle. In addition, sensors can be formed in the electronic circuit board 120. In addition to the electronic circuit board 120, the valve disc VS comprises a valve unit with valves 118 and a piezoelectric actuator 116. The piezoelectric actuator 116 typically comprises a plurality of thin piezoelectric layers that expand or move when a voltage is applied and thus serve as an electro-pneumatic interface. The components are mounted by fastening elements 122 to form a complete module.

[0114] Figure 3The structure of a valve disk VS according to a preferred embodiment of the invention is shown. The valve disk VS comprises four valves 118 in a valve unit, which control two chambers of the cylinder independently of each other via a bridge circuit (for example, in the form of an electric Wheatstone bridge) in order to be able to provide a high-level valve function. In each case, a booster 112 is used to increase the flow rate. Each valve disk VS comprises a controller unit, which can be designed, for example, as a microcontroller 124, in order to provide an actuation voltage, which is defined corresponding to the movement task of the application A, in order to execute the valve stroke or adjust the pressure ratio. In one embodiment of the invention, the microcontroller 124 is used to control the individual valves and to perform data communication, in particular to exchange data (bidirectionally) with an electronic valve controller 1 (not shown in this figure). In another embodiment of the invention, each valve disk VS has a microcontroller, which, however, (as an execution unit) is used to execute the application A; they perform data communication with the corresponding other microcontrollers of the other valve disks VS of the same valve island VI.

[0115] According to the invention, the valve function of the valve disk VS (e.g., as a 4 / 2-4 / 3, 2x 3 / 2, 2x 3 / 3 directional control valve, etc.) and other functions, the valve execution mode and the operating state (e.g., soft stop, economy mode, pressure control, flow control, etc.) can be adaptively changed by application A. The valve function and the operating state can be selected even when one and the same valve mechanism or valve configuration is to be used. Thus, according to the invention, in the case of a specific pneumatic system (with specific physical components), the valve function can be variably adapted to the application instance with the corresponding movement task.

[0116] FIG. 4 shows the valve island VI in different embodiment variants: Figure 4a A valve island VI is shown which includes four valve disks VS and Figure 4b A valve island VI is shown which comprises eight valve discs VS. Reference numeral 40 denotes by way of example a supply connection or a pressure connection. The valve island VI comprises an internal measurement signal unit 5000 for recording local measurement signals. The measurement signals can all be pneumatically related physical measurement variables, such as temperature, pressure, position (stroke) of the valve core, flow, flow velocity, etc. The signal can be a time-continuous signal or a time-discrete signal. The individual physical variables can be determined by a plurality of sensors and then provided as an average signal. The closed-loop control variables to be recorded of the internal measurement signal unit 5000 are defined in the code generation phase. The ventilation device is indicated by reference numeral 12. A plurality of working channels or working connections 50 control and move the working device (in this case the piston-cylinder assembly 11, not shown).

[0117] In an exemplary embodiment, the electronic valve controller 1 can be used for technical diagnosis. For this purpose, the corresponding measured values ​​are recorded via the sensor units 4000, 5000 and transmitted to the diagnostic module. The diagnostic module can be formed on the computing unit 1000, for example. For example, leakage can be monitored in the application. For this purpose, the sensor can be arranged in the valve, in the pipe, in the threaded connection and in the cylinder. During the (first) startup, the actual state is recorded, which is used as the desired state (equivalent to the target state) and as a (good) reference. During the operating time of application A, if the cylinder is in a position that allows the recording of sensor data, the leakage level at each position of the valve assembly can be determined as the actual state by triggering the diagnostic task. After comparing the desired state with the actual state, the corresponding technical diagnostic information can be transmitted (for example, as a state bit (for example "leakage increases")) to the computing unit 1000 and / or to the electronic valve controller 1. The various parameters of the desired state can be determined in the learning operation of the pneumatic system.

[0118] In a further exemplary embodiment, application monitoring can be performed, wherein, for example, the wear state of the pneumatic drive and / or the guide is to be determined. Taking into account the pressure level, temperature and / or other parameters (previous movement, etc.), the run time between the starting pressure and the end position of the pneumatic drive is recorded in the internal measurement signal unit 5000. This state is then stored as the desired state and is stored as a reference during startup. During the run time, after triggering the monitoring task, when the cylinder is in its final position, the friction conditions of the pneumatic drive (including state data on friction and wear of components) can be ascertained. Based on the recording of the actual state and the comparison with the desired state, the result is transmitted to the monitoring entity (e.g., the calculation unit 1000) as a state bit (e.g., "friction increased") .

[0119] In a further example, the valve state may be recorded by recording valve parameters at different positions in the valve disk VS, for example:

[0120] - At the piezoelectric bending element

[0121] - In the inner part of the guide cylinder

[0122] - At the lower side of the U-shaped electronic circuit board 120

[0123] - Inside front of booster barrel, etc.

[0124] The desired state is documented by the manufacturer of the valve assembly and stored as a reference. During the operating time of application A, by correspondingly triggering a monitoring task on the electronic valve controller 1 or on the computing unit 1000, the system state of the valve or valve disk VS can be determined and transmitted in a status bit (e.g. "check valve").

[0125] Figure 6 Different closed loops used for closed-loop control of a valve assembly are shown. The valve island VI has the structure described in more detail above and comprises four valve discs VS and an internal measurement signal unit 5000. On each valve disc VS is integrated a first closed loop RK1 which calculates internal sensor signals (recorded locally on the valve disc VS) in order to control them in a closed-loop manner. Preferably, the internal sensor signals of the piston-cylinder sensor unit 6000 are calculated for the first closed loop RK1 for the purpose of closed-loop control. In addition, the local measurement signals of the internal measurement signal unit 5000 can also be calculated optionally. The second closed loop RK2 is integrated in the electronic valve controller 1. It is used to calculate the sensor signals read in by the internal measurement signal unit 5000 and the piston-cylinder sensor unit 6000. According to one embodiment of the invention, the external sensor unit 4000 is connected to the valve island VI, in particular to the electronic valve controller 1, according to data technology, so that the external sensor unit 4000 can send the processed signals recorded thereon directly to the electronic valve controller 1 for the purpose of closed-loop control. In this case, in addition to the sensor signals of the internal measurement signal unit 5000 and the piston-cylinder sensor unit 6000 , external processing signals are also calculated locally on the electronic valve controller 1 for the purpose of closed-loop control.

[0126] According to a preferred embodiment of the invention and typically, the movement task is recorded on the editor E and an application A with an executable program code is generated on the computing unit 1000. The application A can then be distributed to one or more execution units for the purpose of execution. An execution unit is a digital entity or an electronic component provided on a pneumatic valve or a valve assembly. The valve assembly can be an electronic valve controller 1 of a valve island VI and therefore a set of valve disks VS or a microcontroller 124 or another control unit of a valve disk VS. All modules of the pneumatic system exchange data so that a distributed solution can also be implemented.

[0127] Figure 7 An exemplary embodiment is shown in which application A ( Figures 7 to 9 The application A (also referred to as App for short) is read in by a computer-based entity (e.g. a central server) via an input interface IN on the valve disk VS. The input interface IN is preferably integrated in the microcontroller 124 of the valve disk VS. The application A comprises open-loop control commands and / or closed-loop control commands in order to move the piston-cylinder assembly 11 according to the pneumatic movement task.

[0128] exist Figure 7In the embodiment shown in the figure, the valve disc VS is mounted directly on the piston-cylinder assembly 11. Corresponding pneumatic channels and optionally aeration and ventilation connections are provided for operating the two chambers of the piston-cylinder assembly 11. For simplicity, in the figures, these connections are combined into a working connection 50 and are only schematically shown. The valve disc VS forms an electro-pneumatic device together with the piston-cylinder assembly 11.

[0129] An important advantage of this embodiment can be seen in the fact that, without or in addition to a functional fluid channel, no additional wiring has to be provided between the piston-cylinder assembly 11 with its components (sensors, signal recording units, etc.) and the microcontroller 124 .

[0130] The pressure signal recorded via the pressure transducer on the piston-cylinder assembly 11 is preferably transmitted to the microcontroller 124 for preprocessing and further processing, preferably without any local preprocessing on the piston-cylinder assembly 11. To this end, the microcontroller 124 may include an AD converter unit for converting the initial mode signal into a digital signal.

[0131] Likewise, other signal types detected on the piston-cylinder assembly 11, such as distance measurement signals or end position switch signals, can be communicated directly to the microcontroller 124 for (pre)processing therein without any local preprocessing. In an embodiment of the invention, the interface 50 is not unidirectional but bidirectional when used to communicate valve control signals to the piston-cylinder assembly 11, so that even analog signals of the piston-cylinder assembly 11 are transmitted back to the electronic actuator unit (in particular back to the microcontroller 124) for evaluation and processing purposes.

[0132] The above-mentioned outsourcing of the pre-processing and processing of the signal from the piston cylinder assembly 11 to the electronic actuator unit can be configured not only in Figure 7 In the design of the present invention shown in, and in combination with Figure 8 or Fig. 9 In other embodiments of the present invention.

[0133] Figure 8 An embodiment is shown in which the piston-cylinder assembly 11 is not located directly on the electropneumatic device - and therefore on the valve disk VS - but is provided offset therefrom. Corresponding channels and connections between the valve disk VS and the piston-cylinder assembly 11 are provided.

[0134] Fig. 9A further variant is shown, in which the application A is not loaded directly onto the valve disk VS but initially onto the valve island, which then transfers the application A to the input interface IN of the valve disk. For this purpose, the valve island VI has an electronic valve controller 1 as a control unit, which for its part comprises an input interface INI. This input interface INI is intended to record the application A from the server. In the present exemplary embodiment, the application A is therefore not directly implemented and executed on the valve island VI but is merely transferred by the valve island to the dedicated valve disk VS for remote processing. As described above in conjunction with Figure 7 and Figure 8 As explained, the valve disc VS of the solution may or may not be arranged directly on the piston-cylinder assembly 11 (by Fig. 9 In the last mentioned example, a corresponding connection is provided between the valve disc VS and the piston cylinder assembly 11; Fig. 9 In the drawings, this example is shown by dashed lines and is intended to represent an alternative indirect assembly.

[0135] Fig.10 Another embodiment of the present invention is schematically shown. Fig. 9 The described design is similar to the extent that the valve island VI is used only for transferring control signals received from the control App or generated by the App. The control signals provided directly by the application A or calculated indirectly on the microcontroller μC of the valve island are transmitted via a single data line, the electrical connection eV to the microcontroller of the displacement drive element (in particular the robot arm R), on which another valve or another valve assembly (for example, a valve disk) is arranged in order to move the drive element of the robot arm R according to the movement task. The control signals are preferably generated on the component loaded with the application A. Generally, this is the microcontroller μC 124,1 of the valve island VI. Only in Fig.10 A characteristic feature of the robot arm R schematically indicated on the right-hand side of the is the fact that (apart from the electrical data lines eV) it is not connected to the valve island VI or is generally located as a separate component at a different location than the valve island VI.

[0136] The further valve assembly WV may comprise only one valve V or may comprise a plurality of valves V or may also comprise at least one valve disk VS. The further valve assembly WV is supplied with pressure via a common pneumatic supply line 55. Generally, the pneumatic supply line 55 is not supplied via a line from the valve island VI. The pneumatic supply line 55 can be supplied with a preconfigurable pressure, for example 6 bar, and the valves of the robot arm R can be supplied by a separate source. Therefore, the valve island VI only has to be connected to the offset-separated robot arm R via a single data line eV for transmitting control data, which greatly reduces the outlay for connecting wires or tubes. In order to control the further valve assembly WV in an open-loop manner by means of the control data recorded via the line eV, a receiver must be formed on the robot arm R. This can be provided in the form of an electronic actuator 124 (for example as a microcontroller) (for clarity, this is not described in detail in the text). Fig.10 not shown).

[0137] In other embodiments, the above designs can also be combined. Thus, for example, it is possible that application A directly controls a first movement task in an open-loop and / or closed-loop manner on valve island VI and indirectly controls a second movement task on the other valve or the other valve assembly WV, which is arranged on a mobile unit separate from valve island VI. Fig.10 In the example above, this is the robot arm R.

[0138] Likewise, it is within the scope of the invention to connect the further valve assembly WV to the valve island VI via a wireless interface. Then, the control signals of the application A (which is executed on the microcontroller of the valve island VI) can be transmitted wirelessly (e.g. via a wireless network, in particular a WLAN of the IEEE802.11 family) to the further valve assembly WV. Likewise, sensor data recorded locally on the valves of the further valve assembly WV can be transmitted wirelessly to the application, for example for the purpose of closed-loop control. In this example, wiring is not necessary between the valve island and the remotely separated further valve assembly.

[0139] Several advantages are associated with the present invention. For example, with the same construction (mechanical structure) of the valve disc VS and / or the valve island VI, different valve functions can be activated (e.g., activated as a 4 / 2 or 4 / 3 directional control valve in or out of economy mode, with or without soft stop or flow control, etc.). On the other hand, different valve functions and therefore different movement tasks can be centrally controlled by only one user interface. The user interface is preferably provided on the computing unit 1000 or alternatively on the control device SPS. This makes operation and control clear and simple. In addition, closed-loop control can be performed during the execution of the movement task on the basis of the internal closed-loop control variables of the valve island VI or valve disc VS and on the basis of the external closed-loop control variables (e.g., the processing signal outside the valve island VI). The closed-loop control can directly lead to a new version (new parameterization) of the application A loaded on the execution unit in real time. In the case of non-updated parameterization, very quickly changing movement tasks can also be executed. In order to control the movement task in an open-loop manner, deep knowledge of fluid technology is no longer required due to the selection of different applications A.

[0140] Finally, it is noted that the description and exemplary embodiments of the present invention are fundamentally to be understood as being non-restrictive with respect to a specific physical embodiment of the invention. All features of the present invention explained and shown in conjunction with the individual embodiments can be provided in different combinations according to the corresponding subject matter of the invention in order to achieve their technical effects at the same time. In particular, it is obvious to a person skilled in the art that the present invention can be applied not only to valve islands in the form described, but also to other groups of components having valve assemblies or valve circuits each including a pneumatic valve. In addition, the components of the pneumatic movement control system can be distributed over multiple physical products. Thus, in particular, the editor E, the calculation unit 1000 and at least one execution unit 1, 124, SPS of the valve assembly VS, VI can be provided on different structural units.

[0141] The scope of protection of the present invention is not limited by the features explained in the description or shown in the drawings.

[0142] Reference numerals

[0143] VS valve disc

[0144] VS1 first valve disc

[0145] VS2 Second valve disc, etc.

[0146] VI valve terminal

[0147] 1 Electronic valve controller

[0148] SPS Memory Programmable Control Device

[0149] 10 Base plate of valve terminal

[0150] 11 Piston cylinder assembly

[0151] 12 Ventilation equipment

[0152] 14 Electrical connectors

[0153] 40 Supply connectors

[0154] 50 Working connection

[0155] 100 Booster cartridge housing

[0156] 112 Booster Cylinder

[0157] 114 Serial synchronous data bus

[0158] 116 Piezoelectric Actuator

[0159] 118 Valve

[0160] 120 Electronic circuit boards

[0161] 122 Fastening elements

[0162] 124 Microcontroller

[0163] E Editor

[0164] MEM Memory

[0165] 1000 computing units

[0166] 1002 Interpreter

[0167] 1004 Memory containing application objects

[0168] 1006 Synthesizer

[0169] 1008 Matcher

[0170] 1010 Database containing licensing data

[0171] 1020 Distributor

[0172] 1022 Actuator

[0173] 2000 Application Object Library

[0174] A Application

[0175] 3000 Closed-loop control interface

[0176] 4000 External Sensor Unit

[0177] 5000 Internal measurement signal units

[0178] 6000 Piston Cylinder Sensor Unit

[0179] RK1 First closed-loop control circuit

[0180] RK2 Second closed-loop control circuit

[0181] R Robotic Arm

[0182] WV Another valve assembly WV offset from the valve island

[0183] 55 Pneumatic supply line

[0184] eV Electrical connector or electrical connection line between the valve terminal and another valve assembly

Claims

1. An electronic actuator (124) for open-loop control and closed-loop control of a pneumatic valve assembly for a pneumatic movement task, characterized in that: Automatically generating executable code in the form of an application (A) according to the recorded pneumatic movement task, the application (A) for performing open-loop control and closed-loop control of the pneumatic valve assembly being loaded on the electronic execution unit (124) in an executable manner or being loadable on the electronic execution unit (124) in an executable manner so as to execute the pneumatic movement task on the pneumatic valve assembly, wherein internal measurement signals and external processing signals of the pneumatic valve assembly recorded during the execution of the application (A) are transmitted to the electronic actuating unit (124) as pneumatic closed-loop control variables in order to generate a modified application, wherein the closed-loop control ensures the generation of a modified application, wherein the application is parameterized with calculated desired specifications and is executed in a parameterized version on the electronic actuating unit (124), wherein the model for code generation is designed as a self-learning system by continuously modifying and fine-tuning the application (A), Wherein, the pneumatic valve assembly is a valve island, and the valve island includes a plurality of valve discs. The electronic execution unit (124) includes at least two closed loops: a first closed-loop circuit (RK1) which is implemented in each case in a valve disk (VS) of a valve island (VI) and which calculates a sensor signal of the valve disk (VS); - a second closed-loop circuit (RK2) which is integrated in the electronic actuator unit (124) and calculates internal sensor signals of the piston-cylinder sensor unit (6000) and / or local measurement signals of the internal measurement signal unit (5000) of the pneumatic valve assembly and / or external processing signals of the external sensor unit (4000) of the pneumatic valve assembly.

2. The electronic execution unit (124) according to claim 1, characterized in that The electronic execution unit (124) is a microcontroller.

3. The electronic execution unit (124) according to claim 1, characterized in that: The pneumatic valve assembly is directly arranged on the piston-cylinder assembly (11).

4. The electronic execution unit (124) according to claim 3, characterized in that The signals recorded on the piston-cylinder assembly (11) are transmitted directly and without any preprocessing to the electronic actuator unit (124) for preprocessing and processing.

5. The electronic execution unit (124) according to claim 4, characterized in that: No electrical wires are provided between the piston-cylinder assembly (11) and the electronic actuator unit (124).

6. The electronic execution unit (124) according to claim 1, characterized in that The pneumatic valve assembly is not directly arranged on the piston-cylinder assembly (11) but is configured to move the piston-cylinder assembly (11).

7. The electronic execution unit (124) according to any one of claims 3 to 6, characterized in that: The electronic actuator unit (124) comprises an input interface (IN) for reading in the application (A) and an output interface as a working connection (50) for moving the piston-cylinder assembly (11).

8. The electronic execution unit (124) according to claim 7, characterized in that An input interface (IN) of the electronic actuator unit (124) which is intended to read in the application (A) receives the application (A) from an electronic valve controller (1) of the valve island (VI).

9. The electronic execution unit (124) according to any one of claims 1 to 6, characterized in that: The electronic actuator unit (124) is used to implement the application (A) and is arranged on the valve island (VI) in order to directly control a first valve (V) in an open-loop and / or closed-loop manner, the first valve (V) being arranged locally on the valve island (VI) and / or in order to indirectly control at least one other pneumatic valve assembly (WV) in an open-loop and / or closed-loop manner, the other pneumatic valve assembly being arranged on the offset drive element (R) in order to perform a corresponding pneumatic movement task.

10. The electronic execution unit (124) according to claim 9, characterized in that During indirect open-loop and / or closed-loop control of a further pneumatic valve assembly (WV) by means of the application (A) on the offset drive element (R), only one electrical connection (eV) is provided between the valve island (VI) and the further pneumatic valve assembly (WV), and wherein all first valves (V) of the further pneumatic valve assembly (WV) are supplied via a common pneumatic supply line (55).

11. The electronic execution unit (124) according to claim 10, characterized in that The pneumatic supply line (55) of the first valve (V) of the further pneumatic valve assembly (WV) extends separately from the electrical connection (eV).

12. The electronic execution unit (124) according to any one of claims 1 to 6, characterized in that: The electronic actuator (124) is arranged on a component other than the component on which the pneumatic movement task is to be performed.

13. The electronic execution unit (124) according to any one of claims 1 to 6, characterized in that: The pneumatic valve assembly is controlled in a closed-loop manner on the basis of internal sensor signals recorded by a sensor which is arranged on the pneumatic valve assembly or remotely on another pneumatic valve assembly (WV).

14. The electronic execution unit (124) according to claim 10, characterized in that The electrical connection (eV) is used to transmit sensor data which are recorded on the further pneumatic valve assembly (WV) and transmitted to the application (A) for closed-loop control purposes.

15. The electronic execution unit (124) according to claim 8, characterized in that In each case, the valve disk (VS) is designed with a plurality of connected pneumatic valves (118).

16. The electronic execution unit (124) according to claim 8, characterized in that The electronic valve controller (1) exchanges data with a computing unit (1000) via an interface, wherein the computing unit (1000) is used to generate the application (A) based on a pneumatic movement task input via an editor (E).

17. The electronic execution unit (124) according to claim 8, characterized in that The electronic valve controller (1) and the internal measurement signal unit (5000) are arranged on a valve island (VI), wherein the electronic valve controller (1) is used to receive a local measurement signal of the pneumatic valve assembly via the internal measurement signal unit (5000) and calculate the local measurement signal for closed-loop control.

18. The electronic execution unit (124) according to claim 8, characterized in that The electronic valve controller (1) controls the pneumatic valve assembly in an open-loop manner and a closed-loop manner to move the piston of a piston-cylinder assembly (11), wherein the piston-cylinder assembly (11) includes the piston-cylinder sensor unit (6000) for detecting an internal sensor signal, and wherein the electronic valve controller (1) is used to calculate the detected internal measurement signal for closed-loop control.

19. The electronic execution unit (124) according to claim 8, characterized in that The electronic valve controller (1) exchanges data with a digital programmable control device (SPS) via a bus system, and wherein the application (A) loaded onto the electronic execution unit (124) is incorporated into a sequence program on the digital programmable control device (SPS), so that the execution of the application (A) can be triggered on the pneumatic valve assembly via the digital programmable control device (SPS).

20. The electronic execution unit (124) according to claim 8, characterized in that The electronic valve controller (1) exchanges data with a digital programmable control device (SPS) via a bus system, and the digital programmable control device (SPS) is provided with other control applications that can be loaded onto the electronic actuator unit (124) for the purpose of executing the pneumatic movement task.

21. A pneumatic valve assembly controlled in an open-loop manner and in a closed-loop manner by an electronic actuator according to any one of claims 1 to 14.

22. An electro-pneumatic system comprising at least two actuators, wherein one actuator is designed as an electronic valve controller (1) of a valve island (VI) and the other actuator is designed as a microcontroller of a valve disk (VS), wherein an executable code in the form of an application (A) is automatically generated based on a recorded pneumatic movement task, and wherein the application (A) is received at the electronic valve controller (1) and transferred to the microcontroller, wherein the application (A) is used to control the valve disk (VS) in an open-loop and closed-loop manner in order to perform the pneumatic movement task on a piston-cylinder assembly (11), in, internal measurement signals of the pneumatic valve assembly and external processing signals recorded during the execution of the application are transmitted to the microcontroller as pneumatic closed-loop control variables in order to generate a modified application, wherein a closed-loop control ensures that a modified application is generated, wherein the application is parameterized with the desired specifications of the calculation and is executed in a parameterized version on the microcontroller, and wherein the model for code generation is designed as a self-learning system by continuously modifying and fine-tuning the application (A), Wherein, the pneumatic valve assembly is a valve island, and the valve island includes a plurality of valve discs; The electronic valve controller (1) comprises at least two closed-loop circuits: a first closed-loop circuit (RK1) which is implemented in each case in a valve disk (VS) of a valve island (VI) and which calculates a sensor signal of the valve disk (VS); - a second closed-loop circuit (RK2) which is integrated in the electronic valve controller (1) and calculates internal sensor signals of the piston-cylinder sensor unit (6000) and / or local measurement signals of the internal measurement signal unit (5000) of the pneumatic valve assembly and / or external processing signals of the external sensor unit (4000) of the pneumatic valve assembly.

23. The electro-pneumatic system according to claim 22, characterized in that The communication connection between the valve plate (VS) and the valve terminal (VI) is designed as a point-to-point communication channel or as a bus system.

24. The electro-pneumatic system according to claim 22, characterized in that In each case, the valve disk (VS) is designed with a plurality of connected pneumatic valves (118).

25. The electro-pneumatic system according to claim 22, characterized in that The electronic valve controller (1) exchanges data with a computing unit (1000) via an interface, wherein the computing unit (1000) is used to generate the application (A) based on a pneumatic movement task input via an editor (E).

26. The electro-pneumatic system of claim 22, wherein: The electronic valve controller (1) and the internal measurement signal unit (5000) are arranged on a valve island (VI), wherein the electronic valve controller (1) is used to receive a local measurement signal of the pneumatic valve assembly via the internal measurement signal unit (5000) and calculate the local measurement signal for closed-loop control.

27. The electro-pneumatic system of claim 22, wherein: The electronic valve controller (1) controls the pneumatic valve assembly in an open-loop manner and a closed-loop manner to move the piston of a piston-cylinder assembly (11), wherein the piston-cylinder assembly (11) includes the piston-cylinder sensor unit (6000) for detecting an internal sensor signal, and wherein the electronic valve controller (1) is used to calculate the detected internal measurement signal for closed-loop control.

28. The electro-pneumatic system of claim 22, wherein: The electronic valve controller (1) exchanges data with a digital programmable control device (SPS) via a bus system, and wherein the application (A) loaded onto the electronic valve controller (1) is incorporated into a sequence program on the digital programmable control device (SPS), so that the execution of the application (A) can be triggered on the pneumatic valve assembly via the digital programmable control device (SPS).

29. The electro-pneumatic system of claim 22, wherein: The electronic valve controller (1) exchanges data with a digital programmable control device (SPS) via a bus system, and the digital programmable control device (SPS) is provided with other control applications that can be loaded onto the electronic valve controller (1) for the purpose of executing the pneumatic movement task.

30. An electronic valve controller (1) for open-loop control and closed-loop control of a pneumatic valve assembly for a pneumatic movement task, characterized in that: Automatically generating executable code in the form of an application (A) according to the recorded pneumatic movement task, the application (A) for performing open-loop control and closed-loop control of the pneumatic valve assembly being loaded on the electronic valve controller (1) in an executable manner or being loadable on the electronic valve controller (1) in an executable manner so as to perform the pneumatic movement task, wherein internal measurement signals and external processing signals of the pneumatic valve assembly recorded during the execution of the application are transmitted to the electronic valve controller (1) as pneumatic closed-loop control variables in order to generate a modified application, wherein the closed-loop control ensures the generation of a modified application, wherein the application is parameterized with the calculated desired specifications and is executed in the parameterized version on the electronic valve controller (1), and wherein the model for code generation is designed as a self-learning system by continuously modifying and fine-tuning the application (A), Wherein, the pneumatic valve assembly is a valve island, and the valve island includes a plurality of valve discs; The electronic valve controller (1) comprises at least two closed-loop circuits: a first closed-loop circuit (RK1) which is implemented in each case in a valve disk (VS) of a valve island (VI) and which calculates a sensor signal of the valve disk (VS); - a second closed-loop circuit (RK2) which is integrated in the electronic valve controller (1) and calculates internal sensor signals of the piston-cylinder sensor unit (6000) and / or local measurement signals of the internal measurement signal unit (5000) of the pneumatic valve assembly and / or external processing signals of the external sensor unit (4000) of the pneumatic valve assembly.

31. The electronic valve controller (1) according to claim 30, characterized in that: In each case, the valve disk (VS) is designed with a plurality of connected pneumatic valves (118).

32. The electronic valve controller (1) according to claim 30, characterized in that The electronic valve controller (1) exchanges data with a computing unit (1000) via an interface, wherein the computing unit (1000) is used to generate the application (A) based on a pneumatic movement task input via an editor (E).

33. The electronic valve controller (1) according to claim 30, characterized in that The electronic valve controller (1) and the internal measurement signal unit (5000) are arranged on a valve island (VI), wherein the electronic valve controller (1) is used to receive a local measurement signal of the pneumatic valve assembly via the internal measurement signal unit (5000) and calculate the local measurement signal for closed-loop control.

34. The electronic valve controller (1) according to claim 30, characterized in that The electronic valve controller (1) controls the pneumatic valve assembly in an open-loop manner and a closed-loop manner to move the piston of a piston-cylinder assembly (11), wherein the piston-cylinder assembly (11) includes a piston-cylinder sensor unit (6000) for detecting an internal sensor signal, and wherein the electronic valve controller (1) is used to calculate the detected internal measurement signal for closed-loop control.

35. The electronic valve controller (1) according to claim 30, characterized in that The electronic valve controller (1) exchanges data with a digital programmable control device (SPS) via a bus system, and wherein the application (A) loaded onto the electronic valve controller (1) is incorporated into a sequence program on the digital programmable control device (SPS), so that the execution of the application (A) can be triggered on the pneumatic valve assembly via the digital programmable control device (SPS).

36. The electronic valve controller (1) according to claim 30, characterized in that The electronic valve controller (1) exchanges data with a digital programmable control device (SPS) via a bus system, and the digital programmable control device (SPS) is provided with other control applications that can be loaded onto the electronic valve controller (1) for the purpose of executing the pneumatic movement task.

37. A method for performing open-loop control and closed-loop control of a pneumatic valve assembly to perform a pneumatic movement task, the method comprising the following method steps: - read in the pneumatic movement task, - automatically generating executable program code in the form of an application (A) for open-loop and closed-loop control of the pneumatic valve assembly based on the recorded pneumatic movement task by means of access to a library of application objects, and - loading the executable program code as an application (A) in real time on the electronic actuator unit of the pneumatic valve assembly, in, The internal measurement signals of the pneumatic valve assembly and the external processing signals recorded during the execution of the application are transmitted as pneumatic closed-loop control variables to an electronic actuating unit (124) in order to generate a modified application. wherein a closed-loop control ensures that a modified application is generated, wherein the application is parameterized with the desired specifications of the calculation and is executed in the parameterized version on the electronic execution unit (124), and wherein the model for code generation is designed as a self-learning system by continuously modifying and fine-tuning the application (A), Wherein, the pneumatic valve assembly is a valve island, and the valve island includes a plurality of valve discs; Wherein, during the execution of the pneumatic movement task by the pneumatic valve assembly, at least two closed-loop circuits are used to perform closed-loop control on the pneumatic valve assembly: a first closed-loop circuit (RK1) which is implemented in each case in a valve disk (VS) of a valve island (VI) and which calculates a sensor signal of the valve disk (VS); - a second closed-loop circuit (RK2) which is integrated in the electronic actuator unit (124) and calculates internal sensor signals of the piston-cylinder sensor unit (6000) and / or local measurement signals of the internal measurement signal unit (5000) of the pneumatic valve assembly and / or external processing signals of the external sensor unit (4000) of the pneumatic valve assembly.

38. The method of claim 37, wherein: The closed-loop control comprises the automatic calculation of desired specifications of the recorded internal sensor signals, the local measurement signals and / or the external processing signals.

39. The method of claim 37, wherein: The closed-loop control of the pneumatic valve assembly is implemented in real time.

40. The method of claim 37, wherein: The application (A) is parameterized and a desired specification for parameterizing the application (A) is calculated.

41. The method of claim 37, wherein: For the purpose of open-loop or closed-loop control, the following conditions can be specified, for which the desired specification is calculated: - damping function to provide soft stop to suppress piston movement, - Control the speed of the piston in a closed loop by providing a throttling function, used to control the speed of the piston in a closed loop, - provide pressure control and / or pressure progression control, - Controlling the execution time of the pneumatic movement tasks in a closed loop, - Controlling the energy efficiency of the pneumatic movement tasks in a closed loop, - perform moves with intermediate stops and / or separated move segments, - closed-loop control with respect to application-specific parameters to be determined, - perform said pneumatic movement tasks for diagnostic purposes, - Open loop control of the flow or large flow of the first valve (V).

42. A pneumatic motion control system for performing open-loop control and closed-loop control of a pneumatic valve assembly to perform a pneumatic motion task, comprising: - an editor (E), said editor serving as a user interface for recording said pneumatic movement task; - a computing unit (1000) which is designed to generate an executable program code provided as an application (A) based on the recorded pneumatic movement tasks; - at least one actuator of the pneumatic valve assembly, the at least one actuator comprising an electronic actuator (124) which is designed in each case to read in the application (A) and to execute it in order to control the pneumatic valve assembly in an open-loop manner according to the pneumatic movement task and / or to control the pneumatic valve assembly in a closed-loop manner based on both internal closed-loop control variables and external process signals, wherein internal measurement signals and external processing signals of the pneumatic valve assembly recorded during the execution of the application are transmitted to the electronic actuation unit (124) as pneumatic closed-loop control variables in order to generate a modified application, wherein a closed-loop control ensures that a modified application is generated, wherein the application is parameterized with the desired specifications of the calculation and is executed in the parameterized version on the electronic execution unit (124), wherein the model for code generation is designed as a self-learning system by continuously modifying and fine-tuning the application (A), Wherein, the pneumatic valve assembly is a valve island, and the valve island includes a plurality of valve discs; and The electronic execution unit (124) includes at least two closed loops: a first closed-loop circuit (RK1) which is implemented in each case in a valve disk (VS) of a valve island (VI) and which calculates a sensor signal of the valve disk (VS); - a second closed-loop circuit (RK2) which is integrated in the electronic actuator unit (124) and calculates internal sensor signals of the piston-cylinder sensor unit (6000) and / or local measurement signals of the internal measurement signal unit (5000) of the pneumatic valve assembly and / or external processing signals of the external sensor unit (4000) of the pneumatic valve assembly.

43. The pneumatic movement control system of claim 42, wherein: The computing unit (1000) comprises: - an interpreter (1002) designed to divide the recorded pneumatic movement task into a series of tasks, a synthesizer (1006) designed to access the memory (1004) comprising stored application objects in order to select, for each task, the application object required for the task from a whole set of all provided application objects, in order to generate executable program code therefrom, - a distributor (1020) designed to distribute the generated executable program code to at least one execution unit and load it there, - an actuator (1022) designed to execute the generated executable program code and designed to record internal measurement signals as closed-loop control variables and return them to the calculation unit (1000) in order to generate modified executable program code.

44. The pneumatic movement control system of claim 43, wherein: The computing unit (1000) further includes: - an adapter (1008) designed to access an external memory (2000) storing a library of licensed application objects, wherein the adapter (1008) is designed to optimize the generation of the executable program code according to a predefinable optimization criterion by analyzing whether licensed application objects are present in the external memory (2000) for executing the recorded pneumatic movement task taking into account internal closed-loop control variables and external closed-loop control variables, and in the event of confirmation, to check the license key for the licensed application objects in the license memory (1010) in order to access the licensed application objects of the external memory (2000) for downloading purposes and for use by the synthesizer (1006).

Images